PID控制器改进方法研究

Research on Improved Methods of PID Controller

分析了常规PID(比例—积分—微分)控制特点,针对其在非线性控制中存在的问题,基于参数自整定和控制器误差组合方式,分别设计了参数自整定模糊PID控制器、参数自整定RBF神经网络PID控制器和非线性自抗扰PD控制器。并进行了实验验证,实验结果表明,从参数自整定和控制器误差组合角度出发,所采用的控制策略可使非线性系统具有较好的动态特性、鲁棒性和自适应能力。

The characteristics of the conventional PID （Proportion-Integration-Differentiation） control strategy are analyzed in the article, .and on account of its problems in nonlinear control, the parameter self-tuning fuzzy PID controller, the parameter self-tuning RBF neural network PID controller and nonlinear ADRC PD controller are designed respectively based on parameter self-tuning and controller error combination. The validation experiment has been done, and the simulation results show that the control strategy which has been adopted based on parameter self-tuning and controller error combination can make nonlinear system have better dynamic characteristics, robustness and adaptive ability.